Remote control direction mechanism

ABSTRACT

A remote control directional mechanism which enables to operate a knuckle boom-type loader along three orthogonal directions from a single operating handle. The boom of the loader will move along directions similar to the ones of the handle moved by an operator. The mechanism per se includes two interconnected angularly deformable quadrilateral arrangements of four arms, each arrangement having a hydraulic cylinder therein, the longitudinal variation of the cylinder permitting the corresponding actuation of the loader.

United States Patent Rodrigue Levesque 28 rue Verbois. Rivere-Du-Loup.Quebec. Canada (21] Appl. No. 837,761

[22] Filed June 30, 1969 [45] Patented June 29, 1971 [72] lnventor [S4]REMOTE CONTROL DIRECTION MECHANISM 8 Claims, 3 Drawing Figs.

52 0.5.01 91 411, 74 471 51 1m.c1 ..Fl5bl3/00, GO5g9/0O so FieldofSearch91/411. 413,460; 60 545; 74 471; 214/1 [56} References Cited UNITEDSTATES PATENTS 2,396,309 3/1946 Coodal I 74 471 2,497,127 2/1950 Lccarme74/471 2,544,134 3/1951 Clark 60/545 2,877,660 3/ I 959 Rush 74/4712,986,006 5/1961 Cox 91/413 2,988,928 6/1961 Dussumiel 74/471 3,011,73912/1961 Boyce et al. 74/471 3,215,391 11/1965 Storm 74/471 PrimaryExaminen-William L. Freeh Att0rneyRaymond A. Robic ABSTRACT: A remotecontrol directional mechanism which enables to operate a knuckleboom-type loader along three orthogonal directions from a singleoperating handle. The boom of the loader will move along dlirectionssimilar to the ones of the handle moved by an operator. The mechanismper se includes two interconnected angularly deformable quadrilateralarrangements of four arms, each arrangement having a hydraulic cylindertherein, the longitudinal variation of the cylinder permitting thecorresponding actuation of the loader.

PATENTED JUN29 nan SHEEI 2 OF 2 REMOTE CONTROL DIRECTION MECHANISM Thisinvention relates to a remote control mechanism and more particularly toa mechanism which controls the operation of a working system alongdirections corresponding to a manual lever.

Earth handling devices, power lift machines, knuckle boom type loadersor similar devices are usually controlled by a plurality of handles orlevers, each one having its own function. Generally, each of thesehandles has no directional relationship with the direction of theworking machine which makes it difficult for the operator of the machineto learn its operation and to constantly perform its operationaccurately.

The above-mentioned difficulty may be overcome by a mechanism which mayremotely control an actuating machine in a plurality of directions byoperating a handle in directions substantially identical to the desireddirections of the machine. This arrangement enables an operator to workfaster and more skillfully, and it also helps to train an apprenticefaster.

The new remote control mechanism comprises, for a threedimensionaloperation, three control devices having a variable length and connectedto a three-dimensional motion actuating system, the said control devicesbeing oriented and interconnected in such a way so that a handleconnected to such an intereonnection and operated along specifiedcoordinates will produce movements of the actuating system alongcorresponding coordinates.

The three control devices may be disposed along three orthogonaldirections and interconnected by straight links connected at one end tofixed supports so that a movement of the handle will produce acorresponding directional movement of the actuating system.

A preferred embodiment for interconnecting two control devices consistsof two deformable quadrilateral arrangements of four arms, the controldevice being located in one of the arms of each arrangement. The twoarrangements respectively disposed at 90 are pivotally interconnected soas to respond to orthogonal movements of the handle and to providecorresponding orthogonal movements of the actuating system.

The control devices are essentially of variable length, that is, areactuated by a longitudinal variation. These control devices may belinear electrical resistors or hydraulic pressure devices such as acombined cylinder and piston.

In the drawings which illustrate embodiments of the invention,

FIG. 1 is a schematic view ofa hydraulic system including a remotecontrol mechanism;

FIG. 2 is a schematic view of a knuckle boom type loader incorporatingthe mechanism illustrated in FIG. 1;

FIG. 3 is a cross-sectional view of a hydraulic pressure device.

It is the intent of the invention to move the digging claws 12 in thesame direction as the operating handle moved by an operator sitting inthe chair 14. For example, a forward movement of the handle 10 willresult into a forward movement of the digging claws 12 by the relativemovement of the arms 16 and 18 of the boom due to the actuation of thehydraulic power cylinder 20. This power cylinder 20 is hydraulicallyactuated by the hydraulic pressure device A which is longitudinallyactuated by the handle 10.

FIGS. 1 and 2 show the actuation of the digging claws 12 in onedirection but it would become obvious to a person skilled in, the art tomove the said claws in orthogonal directions by the use of suitablyplaced power cylinders responding to other hydraulic control devicessuch as B and C shown in FIG. 1.

The remote directional control device per se comprises the hydraulicpressure devices A, B and C, respectively operated by lever 10.Obviously, each of these pressure devices may be any control devicewhich has a variable length.

A simple arrangement of the control devices A, B and C consists in thateach control device is disposed in orthogonal directions from oneanother and each one is connected to one arm, one end of each arm isfixed to a solid support while the other ends of each arm is directlyinterconnected, one of said other end being connected to the controllinglever.

However, the preferred embodiment for connecting the hydraulic pressuredevices A, B and C consists of a set of four arms la, 2a, 3a and 4aforming a quadrilateral arrangement and into which the pressure device Ais disposed through the arm 2a. The arm la is solidly fixed to a rigidbase while the other arms 20, 3a and 4a are pivotally connected to eachother to form a quadrilateral arrangement. The forward and rearwardmovements of the handle 10 in the direction 10a and 10m: varies thelength of the pressure device A. The longitudinal variation of thedevice A produces a hydraulic displace ment through the cylinder 22which actuates the valve assembly 30 and in turn hydraulically variesthe length of the power cylinder 20. The valve assembly 30 iscontinuously fed by the reservoir or oil tank 28 through the pump P.

Therefore, it may be seen that a displacement of the handle 10 in apredetermined direction will cause the power cylinder 20 to move thearms 16 and 18 in a parallel direction so that the gripping claws 12will move in a direction parallel to the movement of the handle 10.

Similarly, the hydraulic pressure device B is supported by a set of fourarms lb, 2b, 3b and 4b. The hydraulic pressure device B varies in lengthby the actuation of the handle 10 from the position 10!) to I0bb. Thismovement of the handle rotates the arm 4a about its own axis and the armlb about the same axis of the arm 4a to which it is solidly secured. Thearms 2b and 4b are practically fixed for the extension of the device B.

Similarly, the hydraulic pressure device B hydraulically influences thecylinder 24 which in turn actuates the valve assembly 30 which willoperate the digging claws 12 in a movement parallel to the hydraulicpressure device B and more par ticularly in the direction parallel tothe arrow extended between the dotted handles l0bb and 10b.

The downward and upward movements of the digging claws 12 will resultwhen a similar movement. of the handle 10 will move between the dottedhandles 1000 and 10c. This latter movement of the handle 10 will pivotthe arm 2b by rotating the arm 4b about its own axis. This is obtainedby pivoting the arm 4a about the arm 4b, this action being the result ofa verti' cal movement of the arm 3a. One end of the hydraulic pressuredevice C is connected to a fixed structure at one end and to the arm 2bat the other end. In a similar manner as for the devices A and B, thedevice C will perform its function upon the gripping claws 12 throughthe cylinder 26 and the valve assembly 30, the latter being adapted tomove a power cylinder which will move the gripping claws in acorresponding vertical movement as the handle 10.

Obviously, the location of the hydraulic pressure device C mayconstitute a lower extension of the arm 3a without departing from thespirit of the preferred embodiment described above.

The correspondence of the relative positions of the handle 10 and theboom 18 is defined by the positioning cylinder 32. The operation is asfollows: When the handle 10 moves in a rearward direction relative tothe operator (see FIG. 2), the hydraulic cylinder A creates a pressurein the pipes 34. This pressure actuates the cylinder 22 connected to thevalve assembly 30. In an appropriate movement, the oil in the pipe 36circulates under pressure to actuate the power cylinder 20 in aretracting movement identified by the arrow 38 which results in themovement of the arm 18 in a rearward direction and this movementactuates the positioning cylinder 32 which deter mined the position ofthe handle 10. Consequently, if the handle 10 is in a forward position,the arm 11B of the boom will be in a forward position, and if the handleis in a rearward position, the arm 18 will be in a rearward position andsimilarly with any intermediate positions. The same principle is appliedto the two other orthogonal movements of the gripping claws 12.

If other movements of the gripping claws [2 are desired, such as therotation thereof or the opening and closing of the claws by anappropriate attachment may be fixed on the handle l0.

Each of the hydraulic pressure devices A, B and C are particularlyillustrated in FIG. 3 which shows an outer tubular container 42 and aninner tubular container 44 located inside the outer container 42. Apiston 46 is mounted inside the inner container and is adapted to slideby the rod 48. A liquid 50 fills the inner container and alsosubstantially fills the outer container 42. The liquid 50 moves from onecontainer to the other by at least a pair of release valves 52a and 52band at least a pair of check valves 54a and 54b.

When the handle is actuated, the rod 48 actuates the piston 46 in thedirection of the arrows 62 and the liquid in the chamber 56b moves intothe outlet pipe 60 which leads to one of the valves 22, 24 or 26 and tothe positioning cylinder 32 or a corresponding one for the two otherorthogonal displacements. Simultaneously, the liquidreturning throughpipe 34' enters the inlet 58 to fill .the entrance chamber 56a of theinner container. A movement of the handle 10 in a direction opposite tothe ,one described above moves the piston 46 to the right (see FIG. 3)and produces a reverse cycle ofthe fluid 50.

A pair of release valves 52a and 52b are provided between the innercontainer 44 and the outer container 42 in order to absorb the excesspressure in the inner container 44. These release valves are also usedwhen the handle 10 moves away from its initial corresponding positionrelative to the gripping claws. In this case, a strong and quickpressure applied to the handle 10 in the desired direction will relocateit relative to the position ofthe claws.

The check valves 54a and 54b are used to let the liquid move in only onedirection as indicated by the arrows within each of the said checkvalves so as to permit the passage of a certain quantity of'liquid fromthe outer container 42 into one of the entrance or exit chamber 560 and56b. These check valves are also useful when the handle 10 must berelocated as described above. i

"From the above description, it should be clear that the desired resultsare obtained, that is, a movement of the handle 10 by the operatorsitting in the chair 14 will result in a similar movement of thegripping claws 12. Obviously, the handle 10 moves about a slightlycurved path having a radius corresponding to the length of the arm 30plus the length of the handle 10 extending from the arm 3a when thehandle 10 moves in the two substantially horizontal directions while theradius is substantially equal to the length of the arm 4a when thehandle moves up and down. These slightly curved paths of the handle 10are not reproduced by the movement of the gripping claws 12, the latterbeing dependent upon the displacement of the power cylinder and thelength of the arm 18. However, the curved paths produced by the movementof the handle 10 are particularly appreciated by the operator which maybe located adjacent the center of curvature of these curved paths.

While only a preferred embodiment has been disclosed, it is obvious thatelectrical, mechanical or hydraulic equivalents can be substituted forobtaining the same desired results.

lclaim:

-l. A remote control mechanism for transmitting motions in at least twoorthogonal directions, said mechanism comprising:

a first control device having a variable length,

a first elongating means for said first control device to allow avariation of the length of the first control device, the said firstmeans defining a first deformable quadrilateral arrangement of fourarms,

a movable operating lever connected to the first elongating means forvarying the length of the first control device, the direction ofmovement of the lever being parallel to the length ofthe first controldevice.

a second control device having a variable length and disposed at 90 withthe first control device.

second elongating means for said second control device so as to allow avariation in length of the second control device, the said second meansdefining a second deformable quadrilateral arrangement of four arms,means for interconnecting the two elongating means so that a movement ofthe said operating lever in a direction parallel to the length of thesecond control device varies the length of the said latter device,

means for opcratively connecting-the said control devices to anorthogonal motion actuating system so that a movement of of the sameoperating lever serves to produce corresponding orthogonal movements ofthe actuating system, wherein the first quadrilateral arrangementcomprises a first arm rigidly immovable;

a second arm pivotally connected to said first arm through which ismounted the first hydraulic pressure device;

a third arm opposed to the first arm and pivotally connected to thesecond arm, the operating lever being connected about the intersectionof the second and third arms for longitudinally varying the length ofthe first hydraulic pressure device;

a fourth arm opposed to the said second arm and pivotally connected tothe third arm.

2. A mechanism as recited in claim 1, wherein the first and secondcontrol devices are hydraulically pressure devices mounted respectivelyin one of the arms of the first and second quadrilateral arrangements.

3. A mechanism as recited in claim 2, wherein the operating lever isfixed to one arm of the first quadrilateral arrangement adjacent thefirst control device.

4. A mechanism as recited in claim 1, wherein the second quadrilateralarrangement comprises,

a first arm solidly fixed to the fourth arm of the first arrangementwhich is rotatably mounted about its longitudinal axis;

a second arm opposite the first arm of the second arrangement andinvariably spaced relative to the first arm of the first arrangement;

a third arm extending between the first and second arms of the secondarrangement and including the second hydraulic pressure device;

whereby a transverse pivoting movement of the controllable leverlongitudinally varies the second hydraulic pressure device.

5. A mechanism as recited in claim 4, wherein the second arrangement ismounted so as to rotate about its fourth arm, and a third hydraulicpressure device is mounted between a stationary member and one arm ofthe second arrangement so that the rotation of the latter armlongitudinally varies the length of the third hydraulic pressure device,means for hydraulically connecting the said third hydraulic pressuredevice to a third motion actuating system perpendicular to the saidorthogonal movement actuating system, whereby a vertical movement of thecontrollable lever varies the length of the third hydraulic pressuredevice.

6. A mechanism as recited in claim 1, wherein the means for connectingthe hydraulic pressure devices to the orthogonal movement actuatingsystem comprise a valve assembly and fluid conduit means forhydraulically connecting the said assembly to the hydraulic pressuredevices, and the orthogonal movement actuating system comprises powerhydraulic cylinders, each power cylinder being actuated by the valveassembly.

7. A mechanism as recited in claim 6, wherein a leverpositioninghydraulic cylinder is mechanically actuated by each power cylinder andhydraulically connected to the said conduit means for controlling theposition of the operating lever.

8. A mechanism as recited in claim 2, wherein each hydraulic pressuredevice comprises two tubular containers mounted one inside the other andhaving a liquid therein, a piston axially movable in the inner containerfor dividing the said inner container into two chambers, one chamberhaving a liquid inlet and the other chamber having a liquid outlet, thesaid inlet and outlet being hydraulically connected to the said actuating system, and each chamber has a release valve and a check valvecommunicating the same with the outer contamer.

1. A remote control mechanism for transmitting motions in at least twoorthogonal directions, said mechanism comprising: a first control devicehaving a variable length, a first elongating means for said firstcontrol device to allow a variation of the length of the first controldevice, the said first means defining a first deformable quadrilateralarrangement of four arms, a movable operating lever connected to thefirst elongating means for varying the length of the first controldevice, the direction of movement of the lever being parallel to thelength of the first control device, a second control device having avariable length and disposed at 90* with the first control device,second elongating means for said second control device so as to allow avariation in length of the second control device, the said second meansdefining a second deformable quadrilateral arrangement of four arms,means for interconnecting the two elongating means so that a movement ofthe said operating lever in a direction parallel to the length of thesecond control device varies the length of the said latter device, meansfor operatively connecting the said control devices to an orthogonalmotion actuating system so that a movement of of the same operatinglever serves to produce corresponding orthogonal movements of theactuating system, wherein the first quadrilateral arrangement comprisesa first arm rigidly immovable; a second arm pivotally connected to saidfirst arm through which is mounted the first hydraulic pressure device;a third arm opposed to the first arm and pivotally connected to thesecond arm, the operating lever being connected about the intersectionof the second and third arms for longitudinally varying the length ofthe first hydraulic pressure device; a fourth arm opposed to the saidsecond arm and pivotally connected to the third arm.
 2. A mechanism asrecited in claim 1, wherein the first and second control devices arehydraulically pressure devices mounted respectively in one of the armsof the first and second quadrilateral arrangements.
 3. A mechanism asrecited in claim 2, wherein the operating lever is fixed to one arm ofthe first quadrilateral arrangement adjacent the first control device.4. A mechanism as recited in claim 1, wherein the second quadrilateralarrangement comprises, a first arm solidly fixed to the fourth arm ofthe first arrangement which is rotatably mounted about its longitudinalaxis; a second arm opposite the first arm of the second arrangement andinvariably spaced relative to the first arm of the first arrangement; athird arm extending between the first and second arms of the secondarrangement and including the second hydraulic pressure device; wherebya transverse pivoting movement of the controllable lever longitudinallyvaries the second hydraulic pressure device.
 5. A mechanism as recitedin claim 4, wherein the second arrangement is mounted so as to rotateabout its fourth arm, and a third hydraulic Pressure device is mountedbetween a stationary member and one arm of the second arrangement sothat the rotation of the latter arm longitudinally varies the length ofthe third hydraulic pressure device, means for hydraulically connectingthe said third hydraulic pressure device to a third motion actuatingsystem perpendicular to the said orthogonal movement actuating system,whereby a vertical movement of the controllable lever varies the lengthof the third hydraulic pressure device.
 6. A mechanism as recited inclaim 1, wherein the means for connecting the hydraulic pressure devicesto the orthogonal movement actuating system comprise a valve assemblyand fluid conduit means for hydraulically connecting the said assemblyto the hydraulic pressure devices, and the orthogonal movement actuatingsystem comprises power hydraulic cylinders, each power cylinder beingactuated by the valve assembly.
 7. A mechanism as recited in claim 6,wherein a lever-positioning hydraulic cylinder is mechanically actuatedby each power cylinder and hydraulically connected to the said conduitmeans for controlling the position of the operating lever.
 8. Amechanism as recited in claim 2, wherein each hydraulic pressure devicecomprises two tubular containers mounted one inside the other and havinga liquid therein, a piston axially movable in the inner container fordividing the said inner container into two chambers, one chamber havinga liquid inlet and the other chamber having a liquid outlet, the saidinlet and outlet being hydraulically connected to the said actuatingsystem, and each chamber has a release valve and a check valvecommunicating the same with the outer container.